Fine implement control system utilizing relative positioning

ABSTRACT

A control system for an implement of a machine is disclosed. The control system may include a relative positioning system for providing relative positioning signals, where the relative positioning signals are representative of a position of the implement relative to a worksite. The control system may further include a controller for determining an implement control plan, where the implement control plan is based on, at least, the relative positioning signals and includes coarse control signals and fine control signals. The control system may further include a coarse control system and a fine control system that controls fine movements of the implement based on the fine control signals. The fine movements may have a fine range of motion, the fine range of motion being less than the coarse range of motion.

TECHNICAL FIELD

The present disclosure generally relates to control systems for machinesand, more particularly, to fine implement control systems for machinesthat utilize relative positioning.

BACKGROUND

Work machines, such as excavators and tele-handlers, may be used tocontrol implements in order to perform various functions. Suchimplements may be utilized for a variety of tasks including, but notlimited to, additive construction, loading, compacting, lifting,brushing and may include, for example, additive construction implements,buckets compactors, forked lifting devices, brushes, grapples, cutters,shears, blades, breakers, hammers, augers, and the like.

For controlling implements and their associated machines, variouscontrol systems are utilized to manually, autonomously, orsemi-autonomously control movement of the work implement in the X, Y,and Z directions. For example, control systems for implements cancontrol orientation of the implement, such as, but not limited to, aroll, a pitch, and/or a yaw of the implement. Such control systems mayutilize a controller to receive instructions from various sources (e.g.,user controls, a memory, a remote control, etc.) and determine controlsto execute via the control system. The control systems send signals toelements associated with the controller, such as motors or actuators, toposition the implement in accordance with the determined controls.

In some control systems, a structure of the machine (e.g., a crane of anexcavator) may be utilized by and actuated by the control system tocontrol the position of the implement. These systems may use one or moreactuators to control gross movement of the machine while positioningimplement. However, control via such machine-associated components maynot provide the desired control accuracy for all types of implements.

Some modern implement control systems, such as the control systemsdisclosed by U.S. Pat. No. 8,644,964 (“Method and System for ControllingMovement of an End Effector on a Machine”), may employ control schemesthat transmit separate signals for coarse movement of a machine to thelarger, coarse moving elements of the control system (e.g., control of acrane of an excavator) and separate signals for fine movement of themachine to other elements of the control system that are more directlyassociated with the implement.

However, using certain implements, merely dividing controls into coarseand fine movements may not provide accurate enough control. Therefore,control systems and methods for controlling an implement that utilizerelative positioning are desired.

SUMMARY

In accordance with one aspect of the disclosure, a control system for animplement of a machine is disclosed. The control system may include arelative positioning system for providing relative positioning signals,where the relative positioning signals are representative of a positionof the implement relative to a worksite. The control system may furtherinclude a controller for determining an implement control plan, wherethe implement control plan is based on, at least, the relativepositioning signals and include coarse control signals and fine controlsignals. The control system may further include a coarse control systemthat receives the coarse control signals from the controller andcontrols coarse movements of the implement based on the coarse controlsignals. Coarse movements may be movements having a coarse range ofmotion. The coarse control system may further include one or more coarseactuators for positioning the implement using coarse movements based onthe coarse control signals. The control system may further include afine control system that receives the fine control signals from thecontroller and controls fine movements of the implement based on thefine control signals. The fine movements may have a fine range ofmotion, the fine range of motion being less than the coarse range ofmotion. The fine control system may further include one or more fineactuators for positioning the implement using fine movements based onthe fine control signals.

In accordance with another aspect of the disclosure, a method forcontrolling an implement of a machine is disclosed. The method mayinclude receiving, by a controller, relative positioning signalsrepresentative of a position of the implement relative to a worksitefrom a relative positioning system. The method may further includedetermining, by the controller, an implement control plan, the implementcontrol plan based on, at least, the relative positioning signals andincluding coarse control signals and fine control signals. The methodmay further include receiving, by a coarse control system, the coarsecontrol signals, the coarse control system including one or more coarseactuators and receiving, by a fine control system, the fine controlsignals, the fine control signals including one or more fine actuators.The method may further include controlling coarse movements of theimplement based on the coarse control signals by positioning theimplement using the one or more coarse actuators, the coarse movementshaving a coarse range of motion. The method may further includecontrolling fine movements of the implement based on the fine controlsignals by positioning the implement using the one or more fineactuators, the fine movements having a fine range of motion, the finerange of motion being less than the coarse range of motion.

In accordance with yet another aspect of the disclosure, a fine controlsystem for an implement of a machine is disclosed. The fine controlsystem is used for controlling fine movements of the implement based onan implement control plan. The fine control system may include arelative positioning system for providing relative positioning signals,the relative positioning signals representative of a position of theimplement relative to a worksite. The fine control system may furtherinclude a controller for determining the implement control plan, theimplement control plan based on, at least, the relative positioningsignals and including control signals. The fine control system mayfurther include one or more fine actuators for positioning the implementusing fine movements based on the fine control signals. The fine controlsystem may further include a fine control structure, the fine controlstructure including one or more fine control components operativelyassociated with the implement, the one or more fine control componentsmoved by the one or more fine control actuators to position theimplement based on the fine control signals.

These and other aspects and features of the present disclosure will bebetter understood when read in conjunction with the accompanyingdrawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of an example machine including a control systemaccording to an embodiment of the present disclosure.

FIG. 2 is a schematic representation of the control system of FIG. 1, inaccordance with the present disclosure and the embodiment of FIG. 1.

FIG. 3 is another side view of the example machine of FIG. 1, butdepicted showing functional characteristics of a coarse control systemassociated with the control system depicted in FIGS. 1 and 2.

FIG. 4 is a three-dimensional perspective view of a fine control systemassociated with the control system of FIG. 1 and depicted in a magnifiedfashion.

FIG. 5 is a flow chart representative of a method for controlling animplement of a machine, in accordance with the present disclosure.

While the following detailed description will be given with respect tocertain illustrative embodiments, it should be understood that thedrawings are not necessarily to scale and the disclosed embodiments aresometimes illustrated diagrammatically and in partial views. Inaddition, in certain instances, details which are not necessary for anunderstanding of the disclosed subject matter or which render otherdetails too difficult to perceive may have been omitted. It shouldtherefore be understood that this disclosure is not limited to theparticular embodiments disclosed and illustrated herein, but rather to afair reading of the entire disclosure and claims, as well as anyequivalents thereto.

DETAILED DESCRIPTION

Turning now to the drawings and with specific reference to FIG. 1, amachine 10 having an implement 12 is illustrated in accordance with theteachings of the present disclosure. While the machine 10 in FIG. 1 isdepicted, generally, as an excavator, the teachings of the presentdisclosure may relate to other work machines that employ control systemsfor an implement associated with said machine. The term “machine” asused herein may refer to any machine that performs some type ofoperation associated with an industry such as mining, construction,farming, transportation, or any other industry known in the art. Forexample, the machine 10 may be an earth-moving machine, such as a wheelloader, excavator, dump truck, backhoe, motor grader, material handler,or the like. Moreover, the work implement 12 connected to the machinemay be utilized for a variety of tasks including, but not limited to,additive construction, loading, compacting, lifting, brushing and mayinclude, for example, additive construction implements, bucketscompactors, forked lifting devices, brushes, grapples, cutters, shears,blades, breakers, hammers, augers, and the like.

As depicted in FIG. 1, the machine 10 may include a housing 14 disposedon top of and supported by an undercarriage 16. The undercarriage 16 maybe associated with one or more ground engaging devices 18, which may beused for mobility and propulsion of the machine 10. The ground engagingdevices 18 are shown as a pair of continuous tracks; however, the groundengaging devices 18 are not limited to being continuous tracks and mayadditionally or alternatively include other ground engaging devices suchas rotatable wheels. A power system 20 is may provide power to thepropel or otherwise move the ground engaging devices 18 and may includeone or more power sources, such as internal combustion engines, electricmotors, fuel cells, batteries, ultra-capacitors, electric generators,and/or any power source which would be known by a person having ordinaryskill in the art. Such a power system 20 may further be used to powervarious motion of the implement 12 or any other elements and controlsystems associated with the machine 10 and/or implement 12.

For control of the implement 12, the machine may further include a crane22, which may include a boom 24 operatively coupled with a stick 26. Theimplement 12 may be attached to the crane at, for example, a distal end28 of the stick 26. For positioning the implement 12, the crane 22 and,as associated elements, the boom 24 and stick 26, may be controlled byan implement control system 30, which includes a coarse control system32 and a fine control system 34. The control system 30 is shown in aschematic depiction in FIG. 2.

With reference to both FIGS. 1 and 2, the coarse control system 32 mayinclude a plurality of coarse control actuators 36 for positioningand/or otherwise moving the implement 12. The plurality of coarsecontrol actuators 36 may include, but are not limited to including,hydraulic actuators, motors, or any other suitable device for receivinginstructions to actuate a component of the machine 10, the implement 12,or any other component associated with the machine 10 which may affectmotion of the implement 12. The plurality of coarse control actuators 36may include one or more boom actuator(s) 38 for rotating, raising,lowering, and/or otherwise positioning the boom 24 relative to thehousing 14 when said boom actuator(s) 37 are actuated. For controllingpositioning of the stick 26 relative to the boom 24, the plurality ofcoarse control actuators 36 may include one or more stick actuator(s)38, which may rotate, raise, lower, and/or otherwise position the stickupon actuation. The plurality of coarse control actuators 36 may furtherinclude implement actuator(s) 40 for controlling coarse positioning ofthe implement. Implement actuator(s) 40 may rotate, raise, lower, and/orotherwise position the implement upon actuation.

To provide signals to the plurality of coarse control actuators 36 foractuation, the coarse control system may include or be otherwiseoperatively associated with a controller 50. The controller 50 isoperatively associated with the coarse control system 32 and itsassociated elements, which include, but are not limited to including,the coarse control actuators 36 and a coarse positioning system 52. Thecontroller 50 may further be used to control the fine control system 34.As such, the controller 40 may be operatively associated with elementsof the fine control system 34, including, but not limited to, fineactuators 54, a fine positioning system 56, and a relative positioningsystem 58.

The controller 50 may be used to control the implement 12 in a varietyof autonomous, semi-autonomous, or manual modes. As used herein, animplement 12 of a machine 10 operating in an autonomous manner operatesautomatically based upon information received from various sensorswithout the need for human operator input. Further, an implement 12 of amachine 10 operating semi-autonomously may include an operator 60,either within the machine 10 or remotely, who performs some tasks orprovides some input while other tasks are performed automatically basedupon information received from various sensors. An implement 12 of amachine 10 being operated manually is one in which an operator 60 iscontrolling all or essentially all of the direction, speed andmanipulating functions of the implement 12 of the machine 10. Animplement 12 of a machine 10 may be operated remotely by an operator(e.g., a remote operation 62) in either a manual or semi-autonomousmanner.

Operation of the implement 12, in any of the above referenced manners,may be executed by the controller 50. The controller 50 may be anyelectronic controller or computing system including a processor whichoperates to perform operations, execute control algorithms, store data,retrieve data, gather data, and/or any other computing or controllingtask desired. The controller 50 may be a single controller or mayinclude more than one controller disposed to control various functionsand/or features of the implement 12 and the machine 10. Functionality ofthe controller 50 may be implemented in hardware and/or software and mayrely on one or more data maps relating to the operation of the machine10 and the implement 12. To that end, the controller 40 may includeinternal memory 64 and/or the controller 50 may be otherwise connectedto external memory 66, such as a database or server. The internal memory64 and/or external memory 66 may include, but are not limited toincluding, one or more of read only memory (ROM), random access memory(RAM), a portable memory, and the like. Such memory media are examplesof nontransitory memory media.

User input 68 may be included with the control system 30 so that theoperator 60 may have the ability to operate/control the implement 12 ofthe machine 10. For example, user input 68 may be provided within a cab69 of the housing 14 of the machine 10, wherein the operator 60 mayprovide commands for the implement 12 when the machine 10 is operatingin either a manual or semi-autonomous manner. The user input 68 mayinclude one or more input devices through which the operator 60 mayissue commands to control the implement 12 of the machine 10 byemploying one or both of the coarse control system 32 and the finecontrol system 34 of the control system 30.

Additionally or alternatively, the control system 30 may include awireless control link 70 which is connected to a wireless network. Viathe wireless control link 70, commands may be given to the implement 12via the controller 50 from a remote operation 62 (e.g., a commandcenter, a foreman's station, and the like). Further, information may beaccessed from and/or stored to the external memory 66 using the wirelesscontrol link 70. In certain embodiments, control of the implement viathe control system 30 may be distributed such that certain functions areperformed at the machine 10 level (e.g., by the operator 60 utilizingthe user input 68) and other functions are performed via remoteoperation 62.

Further, the control system 25 may be configured to implement animplement control plan 74. The implement control plan 74 may beinstructions stored on at least one of the internal memory 64 and/or theexternal memory 66 and executed by the controller 50. The implementcontrol plan 74 may be influenced by elements of the control system 30,such as any input or feedback from the coarse positioning system 52, thefine positioning system 56, the relative positioning system 58, the userinput 68, the remote operation 62, or any other conditions or controlsassociated with the implement 12 or the machine 10. The implementcontrol plan 74 may include one or more passes for a given taskassociated with the implement 12.

The implement control plan 74 includes both coarse control signals 76and fine control signals 78. The coarse control signals may betransmitted from the controller 50 to the coarse control system 32 and,more specifically, may be transmitted to one or more of the coarsecontrol actuators 36. The coarse control actuators 36, upon receivingthe coarse control signals 76, may be actuated to execute coarsemovements of the implement 12 in accordance with the implement controlplan 74. Similarly, the fine control signals 78 may be transmitted fromthe controller 50 to the fine control system 34 and, more specifically,may be transmitted to one or more of the fine actuators 54. Uponreceiving the fine control signals 78, the fine actuators 54 may beactuated to perform fine movements of the implement 12 in accordancewith the implement control plan 74. “Fine movements” may be any movementof the implement 12 that has a range of motion that is less than therange of motion of the coarse movements.

For example, the implement control plan 74 may execute instructions foradditive construction using the machine 10 and the implement 12.Additive manufacturing, also often referred to as three-dimensionalprinting, is a process of creating three-dimensional structures from adigital plan or design file. Such additive manufacturing plans and/ordesigns can be transformed into cross-sections and used to formsuccessive layers to be laid by an additive manufacturing device. Theimplement control plan 74 may include such digital plans and/or designfiles. In such examples, the implement 12 may be an additiveconstruction device (e.g., an extruder) for laying down successivelayers of material to construct a structure 79. In such an implementcontrol plan 74, instructions may include tool path instructions for theimplement 12 that are generated based on a digital, three-dimensionalmodel. The instructions may include successive layers of material to belaid until construction of the structure to be manufactured iscompleted. In such applications, precise control of the implement 12,using the control system 30, is required to properly and accurately laythe successive layers to construct the desired structure.

As mentioned above, the control system 30 includes the coarse controlsystem 32, whose functions are further illustrated in FIG. 3 anddescribed herein. In generating, implementing, optimizing, or otherwiseaffecting desired controls for the coarse control system 32, thecontroller 50 may receive and utilize information provided by the coarsepositioning system 52. In view of such desired controls, the coarsecontrol system 32 controls coarse movement of the implement 12. Forexample, the coarse control system 32 may control movement of animplement in a range of motion that includes any motion plus or minusthree inches along a desired path of movement instructed by thecontroller 50. However, this example is merely exemplary, and coarsemovement controlled by the coarse control system 32 may be any range ofmotion which is greater than a range of motion of the fine controlsystem 34.

In the non-limiting example of such a coarse control system 32 and thenon-limiting example motion instructions 80 shown in FIG. 3, the coarsecontrol system 32 may control the initial placement of the machine 10 bytransmitting propulsion instructions 81 to the ground engaging member(s)18 and/or transmitting rotation instructions 82 for the ground engagingmembers to one or both of the ground engaging member(s) 18 and theundercarriage 16. Additional actuators (not shown) for positioning theground engaging member(s) 18 and the undercarriage 16 may also beincluded. The coarse control system 32 may further provide control ofthe rotational position of the housing 14 via transmitting housingrotation instructions 84, which may be received by the housing 14, theundercarriage 16, and/or any other actuator or further movement deviceassociated with the coarse control system 32. The housing rotationinstructions 84 may set a gross position for the crane 22.

The crane 22 may be further controlled by boom height instructions 86transmitted to boom actuator(s) 37. The boom height instructions 86 mayraise or lower the boom 24 in accordance with the desired path of motionfor the implement 12. The implement 12 may be further raised or loweredupon actuation of arm actuator(s) 38 based on arm height instructions88, which may be transmitted to the arm actuator(s) 38 by the controller40. Further, the implement 12 may be further raised, lowered, orotherwise positioned via coarse implement instructions 90, which may betransmitted to and executed by the implement actuator(s) 40.

The implement 12 may be further positioned, moved, rotated, or otherwisecontrolled by the fine control system 34. The fine control system 34 maybe used to execute fine movements necessary for positioning theimplement 12. The “fine movements” executed by the fine control system34 may be any movement within any range of motion that is less than therange of motion of the coarse control system 32. For example, the finecontrol system 34 may control movement of an implement 12 in a range ofmotion that includes any motion plus or minus two millimeters along adesired path of movement instructed by the controller 50. The finecontrol system 34 is shown in a three-dimensional perspective view inFIG. 4. References to axes and planes, on which the depiction of thefine control system 34 is disposed, are made in view of the depicted“X,” “Y,” and “Z” axes.

To control fine movement of the implement 12, the fine control systemmay include a fine control structure 92, which may be positioned inresponse to actuation one or more of the fine actuators 54. The finecontrol structure 92 is operatively associated with the implement 12,but in some examples the fine control structure 92 may be considered acomponent of the implement 12 itself, while still controlled by the finecontrol system 34. Alternatively, the fine control structure 92 may be astructure independent of the implement 12, wherein the implement isoperatively associated with the fine control structure 92. The finecontrol structure 92 may further be attached, mounted to, or otherwiseoperatively associated with the stick 26 of the crane 22 at, forexample, the distal end 28 of the stick 26. The fine actuators 54 may belocated and operatively connected to at any location on the fine controlstructure 92 where the fine actuators 54 may be useful for positioningthe implement 12. For example, and as shown, the fine actuators 54 maybe located at connective points of positioning components of the finecontrol structure. Further, the fine actuators 54 may include, but arenot limited to including, hydraulic actuators, motors, or any othersuitable device for receiving instructions to position the implement 12via, for example, the fine control structure 92.

The fine control structure 92 may be comprised of one or more associatedcomponents which pivot and/or otherwise move about any of the x, y,and/or z-axes to position the implement 12. Movement of elements of thefine control structure 92 may result from actuation of one or more ofthe fine actuators 54 in response to the fine control signals 78. In thenon-limiting example of FIG. 4, the fine control structure includes afirst leg 94 that may connect to the distal end 28 of the stick 26 andshown extending along the z-axis, a second leg 96 that may pivotallyconnect to the first leg and shown extending along the x-axis, a firstmount 97 that may be connected to the second leg and on which theimplement 12 may be mounted, and a second mount 98 that may be connectedto one or both of the implement 12 and the first mount 97 and may beable to rotate the implement 12. When actuated using one or more of thefine actuators 54, the first leg may rotate, raise, lower, or otherwisemove the implement 12 with respect to the positioning of the stick 26,as it may be connected to the distal end 28 of the stick 26. The secondleg 96 may be pivotally connected to the first leg 94 and may rotate,raise, lower, or otherwise move the implement 12 with respect to thepositioning of the first leg 94, when actuated by the fine actuators 54.The first mount 97 may be attached or otherwise operatively associatedwith the second leg 96 and may allow provide connection between thesecond leg 96 and the implement 12, such that it allows the implement 12to move with the motion of the second leg 96, when moved by actuation ofthe fine actuators 54. In some examples, the first mount 97 may bemovable with respect to the plane on which the second leg 96 isdisposed. For example, the first mount 97 may be mounted to the secondleg 96 via a track mount that allows the first mount 97 to move alongthe length of the second leg 96. Additionally, the second mount 98 maybe used to further rotate the implement 12 along any plane on which theimplement 12 is already positioned by upstream elements of the finecontrol system 34.

Feedback for determining both coarse controls and fine controls for acontrol scheme (e.g., the implement control plan 74) may be provided bythe coarse positioning system 52, the fine positioning system 56, and/orthe relative positioning system 58. The positioning systems 52, 56 maybe employed to determine absolute positioning of the implement 12 and/orthe machine 10 relative to a worksite. The positioning systems 52, 56may include one or more GPS sensors for detecting locations of themachine 10 or one or more elements of the machine 10 relative to theworksite. Other elements of the positioning systems 52, 56 may include,but are not limited to including, perception based system sensors, andlaser position detection systems, total station receivers, rangingradios, single or dual Global Navigation Satellite System (GNSS)receivers, and the like. All elements of the positioning systems 52, 56may be used to determine the real time actual positioning of theimplement 12 and/or the machine 10. Of course, other elements aiding indetecting positioning of implement 12 and/or the machine 10 or theworksite may be included and input from other sensors or receivers mayalso be used in determining the positioning of the implement 12 and/orthe machine 10.

For relative position sensing, the relative positioning system 58provides further feedback to the controller, which may be used forforming control instructions (e.g., the implement control plan 74)and/or altering existing control instructions. The relative positioningsystem 58 may include one or more perception sensors for determiningpositioning relative to a past operation of the machine. For example,the relative positioning system may include one or more cameras, LiDARsystem, or any other perception sensing device. LiDAR is a radar-likeremote sensing technology that measures distance by illuminating atarget with a laser and analyzing the reflected light (the term LiDAR isa portmanteau of “light” and “radar”). The relative positioning system58 may generate images to be processed by the controller 40 and used todetermine future positioning for the implement 12. In the example shownin FIG. 4, the relative positioning system may be used to detect an edge99 of the structure 79.

The ability of the relative positioning system 58 to determine relativeposition of the implement for use in future position may be useful whenthe implement control plan 74 requires multiple passes to perform atask. Returning to the aforementioned, non-limiting example, where theimplement 12 is an additive construction device, the implement controlplan 74 may determine where the implement 12 should be positioned whenexecuting the next pass for adding a next layer to the structure 79.Feedback from the relative positioning system 58 may be utilized by thecontroller 50 to provide instructions to align the implement on top ofthe last pass, because the signals provided by the relative positioningsystem 58 from the previous pass can detect the edge 99 of the materialsof the structure 79 laid in the previous pass.

INDUSTRIAL APPLICABILITY

The present disclosure generally relates to control systems for machinesand, more specifically, to fine implement control systems for machinesthat utilize relative positioning. As shown above, the control system 30may be employed for control of an excavator; however, the systems andmethods of the present disclosure may be applied to any work machinesperforming a task such as, but not limited to, additive construction,loading, compacting, lifting, brushing, and the like. Further, suchmachines may include one or more implements to be controlled by thepresent disclosure's systems and methods, such implements may include,but are not limited to including, additive construction implements,buckets compactors, forked lifting devices, brushes, grapples, cutters,shears, blades, breakers, hammers, augers, and the like. By utilizingrelative positioning in such control systems, the disclosed systems andmethods may provide greater control accuracy for an implement of amachine, such as the implement 12 of the machine 10.

To that end, FIG. 4 illustrates a flowchart for an example method 100for controlling the implement 12 of the machine 10, which includesutilization of the relative positioning system 58 for fine control andimproved accuracy. The method begins at block 110, when the controller50 receives relative positioning signals from the relative positioningsystem 58. The relative positioning signals may be representative of aposition of the implement 12 relative to a worksite (e.g., the structure79). Determining the relative positioning signals by the relativepositioning system 58 may be based on information indicative of the edge99 of the structure 79 relative to a first position of the implement 12during a first pass of the implement 12. The relative positioningsignals provided by the relative positioning system 58 may providegreater accuracy in path planning for the implement control plan 74, ascompared to prior implement control systems.

At block 120, the controller 50 determines the implement control plan74, which is based on, at least, the relative positioning signalsgenerated by the relative positioning system 58. In some examples,determining the implement control plan may further include determiningsecond pass instructions for positioning the implement 12 during asecond pass of the implement, the second pass instructions being basedon information indicative of the edge 99 of the structure 79 relative tothe first position of the implement 12 during the first pass of theimplement 12. The implement control plan 74 can further be based on oneor more of signals from the coarse positioning system 52 and/or the finepositioning system 56, signals from the user input 68, signals from theremote operation 62, signals from the internal memory 64 and/or theexternal memory 66 of the controller 50, and/or any other feedback orinput useful in formulating the implement control plan 74. The implementcontrol plan 74 may include coarse control signals 76 and fine controlsignals 78.

The coarse control signals 76 are received by the coarse control system32, as shown in block 130, and are used to control or otherwise positionthe implement in accordance with the coarse control signals 76, as shownin block 135. One or more of the coarse control actuators 36 may be usedto position the implement 12. Similarly, the fine control signals 78 arereceived by the fine control system 34, as shown in block 140, and areused to control or otherwise position the implement 12 in accordancewith the fine control signals 78, as shown in block 145.

As described above, the control system 30 and the method 100 may beuseful when the implement 12 is an additive manufacturing implement.Using signals output by the relative positioning system 58 and usingsaid signals to formulate the implement control plan 74, the implement12 may have greater accuracy in laying successive layers because theimplement control plan 74 will be based upon the relative position ofthe implement 12 to the edge 99 of the last pass of the implement 12,when additively manufacturing the structure 79. While the disclosedsystems and methods are useful in additive manufacturing applications,the disclosed systems and methods are certainly not limited to use inadditive manufacturing applications.

It will be appreciated that the present disclosure provides fine controlsystems for implements of machines. While only certain embodiments havebeen set forth, alternatives and modifications will be apparent from theabove description to those skilled in the art. These and otheralternatives are considered equivalents and within the spirit and scopeof this disclosure and the appended claims.

What is claimed is:
 1. A control system for an implement, the implementassociated with a machine, the control system comprising: a relativepositioning system including one or more perception sensors operativelyaffixed to the implement and configured for determining positioning ofthe implement relative to a past operation of the machine, the relativepositioning system utilizing input from the perception sensors todetermine relative positioning signals, the relative positioning signalsrepresentative of a position of the implement relative to a worksite; acontroller for determining an implement control plan, the implementcontrol plan based on, at least, the relative positioning signals andincluding coarse control signals and fine control signals; a coarsecontrol system receiving the coarse control signals from the controllerand controlling coarse movements of the implement based on the coarsecontrol signals, the coarse movements having a coarse range of motion,the coarse control system including one or more coarse actuators forpositioning the implement using coarse movements based on the coarsecontrol signals; and a fine control system receiving the fine controlsignals from the controller and controlling fine movements of theimplement based on the fine control signals, the fine movements having afine range of motion, the fine range of motion being less than thecoarse range of motion, and the fine control system including one ormore fine actuators for positioning the implement using fine movementsbased on the fine control signals.
 2. The control system of claim 1,wherein the relative positioning signals include information indicativeof an edge of the worksite relative to a first position of the implementduring a first pass of the implement.
 3. The control system of claim 2,wherein the implement control plan includes second pass instructions forpositioning the implement during a second pass of the implement, thesecond pass instructions based on the information indicative of the edgeof the worksite relative to the first position of the implement duringthe first pass of the implement.
 4. The control system of claim 1,further comprising at least one positioning system associated with atleast one of the implement and the machine and providing positioningsignals to the controller, wherein the implement control plan is furtherbased on the positioning signals.
 5. The control system of claim 1,further comprising a user control system for providing user inputsignals to the controller, wherein the implement control plan is furtherbased on the user input signals.
 6. The control system of claim 1,further comprising a remote operation, the remote operation forproviding remote control signals to the controller, wherein theimplement control plan is further based on the remote control signals.7. The control system of claim 1, further comprising a memoryoperatively associated with the controller, the memory storing plannedcontrol signals and providing the planned control signals to thecontroller, wherein the implement control plan is further based on theplanned control signals.
 8. The control system of claim 1, wherein theimplement is an additive construction implement and the implementcontrol plan is an additive construction control plan.
 9. The controlsystem of claim 1, wherein the fine control system further includes afine control structure, the fine control structure including one or morefine control components operatively associated with the implement, theone or more fine control components moved by the one or more finecontrol actuators to position the implement based on the fine controlsignals.
 10. The control system of claim 1, wherein the machine furtherincludes a housing and a crane and wherein the one or more coarseactuators position the implement by moving at least one of the housingand the crane based on the coarse control signals.
 11. The controlsystem of claim 10, wherein the crane includes a boom operativelyconnected to the housing and a stick operatively connected to the boomand the implement, and wherein the one or more coarse actuators positionthe implement by moving at least one of the boom relative to thehousing, the stick relative to the boom, and the implement relative tothe stick.
 12. A method for controlling an implement of a machine, themethod comprising: determining, by a relative positioning system,relative positioning signals based on input of one or more perceptionsensors of the relative positioning system, the one or more perceptionsensors being operatively affixed to the implement and configured fordetermining positioning of the implement relative to a past operation ofthe machine, the relative positioning signals representative of aposition of the implement relative to a worksite; receiving, by acontroller, the relative positioning signals from the relativepositioning system; determining, by the controller, an implement controlplan, the implement control plan based on, at least, the relativepositioning signals and including coarse control signals and finecontrol signals; receiving, by a coarse control system, the coarsecontrol signals, the coarse control system including one or more coarseactuators; receiving, by a fine control system, the fine controlsignals, the fine control signals including one or more fine actuators;controlling coarse movements of the implement based on the coarsecontrol signals by positioning the implement using the one or morecoarse actuators, the coarse movements having a coarse range of motion;and controlling fine movements of the implement based on the finecontrol signals by positioning the implement using the one or more fineactuators, the fine movements having a fine range of motion, the finerange of motion being less than the coarse range of motion.
 13. Themethod of claim 12, further comprising determining relative positioningsignals based on information indicative of an edge of the worksiterelative to a first position of the implement during a first pass of theimplement.
 14. The method of claim 13, wherein determining the implementcontrol plan further includes determining second pass instructions forpositioning the implement during a second pass of the implement, thesecond pass instructions based on the information indicative of the edgeof the worksite relative to the first position of the implement duringthe first pass of the implement.
 15. The method of claim 13, furthercomprising receiving, by the controller, positioning signals associatedwith at least one of the machine and the implement, the positioningsignals provided by a positioning system associated with the at leastone of the machine and the implement and wherein the implement controlplan is further based on the positioning signals.
 16. A fine controlsystem for an implement of a machine, the fine control systemcontrolling fine movements of the implement based on an implementcontrol plan, the fine control system comprising: a relative positioningsystem including one or more perception sensors operatively affixed tothe implement and configured for determining positioning of theimplement relative to a past operation of the machine, the relativepositioning system utilizing input from the perception sensors todetermine relative positioning signals, the relative positioning signalsrepresentative of a position of the implement relative to a worksite; acontroller for determining the implement control plan, the implementcontrol plan based on, at least, the relative positioning signals andincluding fine control signals; one or more fine actuators forpositioning the implement using fine movements based on the fine controlsignals; and a fine control structure, the fine control structureincluding one or more fine control components operatively associatedwith the implement, the one or more fine control components moved by theone or more fine control actuators to position the implement based onthe fine control signals.
 17. The fine control system of claim 16,wherein machine includes a crane and the fine control structure isoperatively associated with the crane, thereby connecting the finecontrol system to the crane.
 18. The fine control system of claim 16,further comprising a positioning system associated with the implementand providing positioning signals to the controller, wherein theimplement control plan is further based on the positioning signals. 19.The fine control system of claim 16, wherein the implement is anadditive construction implement and the implement control plan is anadditive construction control plan.
 20. The fine control system of claim16, wherein the relative positioning signals include informationindicative of an edge of the worksite relative to a first position ofthe implement during a first pass of the implement, and wherein theimplement control plan includes second pass instructions for positioningthe implement during a second pass of the implement, the second passinstructions based on the information indicative of the edge of theworksite relative to the first position of the implement during thefirst pass of the implement.